Systems, apparatuses, and methods for measuring submerged surfaces

ABSTRACT

The present disclosure provides systems, apparatuses, and methods for measuring submerged surfaces. Embodiments include a measurement apparatus including a main frame, a source positioned outside a pipe and connected to the main frame, and a detector positioned outside the pipe at a location diametrically opposite the source and connected to the main frame. The source may transmit a first amount of radiation. The detector may receive a second amount of radiation, determine a composition of the pipe based on the first and second amounts of radiation, and send at least one measurement signal. A control canister positioned on the main frame or on a remotely operated vehicle (ROV) attached to the apparatus may receive the at least one measurement signal from the detector and convey the at least one measurement signal to software located topside.

This application is a continuation of U.S. patent application Ser. No.16/856,379, filed Apr. 23, 2020, which is a continuation of U.S. patentapplication Ser. No. 15/875,810, filed Jan. 19, 2018, now U.S. Pat. No.10,641,693, which is a continuation of U.S. patent application Ser. No.15/141,269, filed Apr. 28, 2016, now U.S. Pat. No. 9,874,507, whichclaims the benefit of U.S. Provisional Patent Application No.62/153,944, filed Apr. 28, 2015, each of which are incorporated hereinby reference.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an isometric view of a measurement apparatus positioned on asection of pipe, according to an exemplary embodiment of the presentdisclosure.

FIG. 2 is a side view of the measurement apparatus shown in FIG. 1 .

FIG. 3 is a top view of the measurement apparatus shown in FIG. 1 .

FIG. 4 is an isometric view of a measurement apparatus positioned on asection of pipe, according to an exemplary embodiment of the presentdisclosure.

FIG. 5 is a side view of the measurement apparatus shown in FIG. 4 .

FIG. 6 is a top view of the measurement apparatus shown in FIG. 4 .

FIG. 7 is an illustration of a graphic user interface for softwareconnected to a measurement apparatus and located topside, according toan exemplary embodiment of the present disclosure.

FIG. 8 is a front view of a measurement apparatus including a rotatingplate positioned on a section of pipe, according to an exemplaryembodiment of the present disclosure.

DESCRIPTION OF EMBODIMENTS

A submerged or submarine pipeline is a pipeline passing under water,which is typically laid on a seabed, or inside a trench below theseabed. The pipeline may also be located partially on-land. Submarinepipelines are used primarily to carry oil or gas but may also be used totransport other materials.

Plugging by hydrates and/or other media in pipelines is one of the majorflow assurance challenges facing the oil and gas industry because itprevents the flow of media in the pipeline and causes substantialinterruption and losses in operations. As oil and gas production movesinto harsh and challenging environments, including deep subseaenvironments, there is a growing need to prevent this plug formation.

The value of remediation methods for plug formation depends on the speedand efficiency in locating an accumulation or plug in the pipeline. Themedia flowing in the pipeline, including gas, oil, wax, asphaltene,hydrates, paraffin, and sand have varied and/or minimal differences intheir respective densities and composition. Detecting these differencesin densities and composition allows for the ability to locate total orpartial blockage in the pipe. A way to detect these differences indensities is by the use of radiation to measure the density of thecontents of the pipeline. Methods of using radiation, including gammarays, to determine the density of pipelines (including to measure flowand hold-up in the pipelines) are disclosed in U.S. Pat. Nos. 7,402,796,4,795,903, 4,667,515, U.S. Patent Pub. No. 2012/0087467 A1, and U.S.Patent Pub. No. 2008/0137808 A1, all of which are incorporated herein byreference. These methods include placing a “source” of radiation outsidea pipeline for directing radiation from the source through a portion ofthe pipeline, and placing a “detector” at a location outside thepipeline opposite the source of radiation for detecting the radiationand measuring the density of the pipeline. The amount of radiation whichsubsequently exits the pipeline depends upon the mass of the mediacontained within the pipeline and its ability to absorb radiation. Thus,a reduction in the amount of radiation which reaches the detectorindicates an increased bulk density of the media flowing through orcontained within the pipeline as more radiation is absorbed by themedia.

The primary existing tool providing for inspection of submergedpipelines in subsea environments is the “Discovery” tool provided byTracerco™. This tool, however, is extremely complex, and functions bymaking a tomography of the pipeline. Each measurement of a “slice” ofthe pipeline takes about 20 minutes. The tool is also very heavy(approximately two tons) and requires dredging around the pipeline to beoperated. Additionally, operation of the tool is very expensive andtime-consuming, and requires the use of additional complex subseaoperations.

Embodiments of the present disclosure relate generally tonon-destructive measuring systems, apparatuses, and methods, and inparticular though non-limiting embodiments, to systems, apparatuses andmethods for measuring submerged pipelines.

The present disclosure provides improved apparatuses, systems, andmethods for the measurement of submerged surfaces, including measurementof submerged pipelines. The disclosed embodiment includes a measurementapparatus having a source/emitter and a detector connected to a mainframe and configured to detect density and/or composition of a sectionof pipeline. The measurement apparatus may be configured for attachmentto an ROV. The attachment to the ROV may be through a hydraulic and/orelectrical system.

According to exemplary embodiments of the present disclosure, methodsare provided for measuring submerged pipelines. Steps may includeconnecting a measurement apparatus to an ROV, and using the ROV to lowerand place the apparatus upon a submerged pipeline such that theapparatus securely fits on the pipeline. A source and a detector of theapparatus may then be used to measure the density and/or composition ofthe section of the submerged pipeline and create an at least onemeasurement signal. The at least one measurement signal may then be sentvia software on the apparatus to software on the ROV and/or to softwarelocated topside. This improved method of measurement of submergedpipelines may be performed in ranges of approximately 3,000 meters to4,700 meters below sea level.

The measurement apparatus may be moved along the submerged pipeline asneeded using the ROV. Exemplary embodiments of the present disclosuremay include traction rollers and/or crawlers and/or wheels attached tothe apparatus, allowing the apparatus to move along the pipe. Therollers and/or crawlers and/or wheels may be powered by electric orhydraulic motors. The rollers and/or crawlers and/or wheels may bearranged such that the main frame of the apparatus is in close proximityto an outer surface of the section of pipe without scraping orcontacting the surface. The number of rollers and/or crawlers and/orwheels may vary in different embodiments of the disclosure. The rollersand/or crawlers and/or wheels may allow for quick and efficient guidanceof the measurement apparatus along the pipeline by an ROV. Exemplaryembodiments of the present disclosure may also include a stabilizingsystem including a brick of lead positioned within the main frame of theapparatus to act as a ballast assist in maintaining the stability of theapparatus along the pipe. The apparatus may also include a handleallowing for ROV-assisted manipulation of the measurement apparatusalong the pipe.

Embodiments of the present disclosure therefore allow for miles ofpipeline to be measured in a single day. The measurement apparatus maybe securely and quickly guided along the pipeline using the connectionto the ROV. The measurement apparatus may be employed to measure vastsections of pipeline for potential problem areas. In this way, thepresent disclosure allows for efficient, low cost measurement of thepipeline. Although discussed herein in conjunction with pipelines, themeasurement apparatus may be used on vessels or other surfaces.

Embodiments of the present disclosure provide for measuring the contentof submerged surfaces, including submerged pipelines, in a moreefficient manner that does not affect the measured material, requiresless process downtime for installation, is non-intrusive, and is easilydeployable. Embodiments of the present disclosure provide for a faster,cheaper, and more reliable method for diagnosing flow abnormalities dueto partial or total plugs within pipelines without substantialinterruption to pipeline operations.

Referring to FIGS. 1 to 3 , different views of a measurement apparatus10 are shown. In FIG. 1 , an exemplary embodiment of a measurementapparatus 10 positioned on a section of pipe 22 is shown. Measurementapparatus 10 may include a main frame 12, a radiation source 19connected to the main frame 12, and a radiation detector 20 connected tothe main frame 12. In an exemplary embodiment, the main frame 12 mayhave a rectangular shape. In alternative embodiments, the main frame 12may have other shapes suitable for the measurement functions of theapparatus 10. In an exemplary embodiment, the main frame 12 may be madeof aluminum. However, the main frame 12 may be made of other materialssuitable for the measurement functions of the apparatus 10. Inparticular embodiments, the apparatus 10 may perform measurements on asection of pipe 22 with a diameter of approximately ten to eighteeninches. However, the apparatus 10 may also perform measurements on pipeswith larger or smaller diameters. In exemplary embodiments, theapparatus 10 may weigh approximately 150 pounds in water and 380 poundsin air, which is substantially less than existing measurementapparatuses performing similar functions.

In various embodiments, source 19 and/or detector 20 may be positionedoutside the pipe 22 and connected to the main frame 12. In an exemplaryembodiment, both source 19 and/or detector 20 may be connected to theapparatus 10 using an elongated support frame 14 having a plurality ofgrooves and tracks configured for attachment to vertical bars holdingthe source 19 and/or detector 20 in a secured carriage. See, e.g, FIG. 1. The vertical bars may be attached to the support frame 14 usingmechanical attachments such as screws and/or bolts. Alternatively, othermechanical configurations may be used to attach the bars to the supportframe 14, including circumferential straps, magnets, ties, quickreleases, snap locks, or other combinations thereof, and/or othersuitable systems. In alternative embodiments, source 19 and/or detector20 may be connected to the main frame 12 using other suitable methods.In some embodiments, the support frame 14 may be connected to electricalor electro-hydraulic linear actuators or hydraulic cylinders, that mayin turn be connected to the source 19 and/or detector 20, and configuredto adjust the source 19 and/or the detector 20 in a directionperpendicular to the pipe 22. In an exemplary embodiment, the supportframe 14 may be made of aluminum. Alternatively, the support frame 14may be made of other materials suitable for attaching support frame 14to the main frame 12 and securely holding the source 19 and/or detector20 in place.

In particular embodiments, source 19 and/or detector 20 may each beattached to cleaning structures 19 a, 20 a configured to move debrisaway from the pipe 22 during measurement of the pipe 22. In exemplaryembodiments, cleaning structures 19 a, 20 a may each have a cone shapeto more efficiently move debris and other material away from the pipe22. In alternative embodiments, cleaning structures 19 a, 20 a may haveother shapes suitable for performing this function. Cleaning structures19 a, 20 a may be attached to the front end, back end, and/or the sidesof the source 19 and/or detector 20. In embodiments of the presentdisclosure, source 19 and/or detector 20 may be securely held in asource carriage and/or detector carriage, respectively. In an exemplaryembodiment, the source carriage and/or detector carriage may be made oftitanium, which is permeable to radiation.

Source 19 may include a radiation source contained within a radiationsource holder and configured to transmit a continuous first amount ofradiation through a section of the pipe 22. In exemplary embodiments,this first amount of radiation may be gamma rays. In this embodiment,the radiation is generally a radioactive isotope as used in conventional(single source and detector) density gauges where the radiation sourceis commonly 662 keV gamma radiation (approximately 100-200 millicurie)from a cesium-137 isotope (¹³⁷Cs). Alternatively, this first amount ofradiation may be derived from other radioactive sources, includingX-rays. In exemplary embodiments, source holder of source 19 may be atleast one of the SHLD, SHF, SHLG, SHLM, and SR source holders forradiation-based measurement offered by VEGA Americas, Inc.

Source 19 may be positioned at a location outside the pipe 22. Source 19may include a collimator to direct the first amount of radiation towardsthe pipe 22. In exemplary embodiments, source 19 may also include ashutter to open or close the collimator. In this embodiment, source 19may include electric motors to activate the shutter, i.e., turn theshutter on and off and let out radiation as needed. Particularly, source19 may use a solenoid to achieve this function. In alternativeembodiments, source 19 may include an electrical linear actuator and/orhydraulic cylinder and/or other suitable devices to achieve thisfunction. If the shutter is on, the first amount of radiation will betransmitted from the source 19 using the collimator. If the shutter isoff, the first amount of radiation will not be transmitted from thesource 19. In alternative embodiments, source 19 may include otheravailable methods to transmit and/or direct the radiation towards thepipe 22. In a particular embodiment, source 19 may weigh approximatelysixty pounds.

Detector 20 may be positioned outside a section of the pipe 22 at alocation diametrically opposite the source 19. See, e.g., FIG. 3 .However, detector 20 may also be positioned at other locations on thepipe 22 as needed to most effectively detect and/or receive radiationfrom the source 19. Detector 20 may be configured to receive a secondamount of radiation from the source 19 after the first amount ofradiation has passed through the section of the pipe 22. Detector 20 maythen be configured to determine a composition of media flowing withinthe section of the pipe 22 based on the first and second amounts ofradiation, and then send at least one measurement signal based on thisdetermined composition via inbuilt signal conditioning software ofdetector 20 to software on an ROV attached to the apparatus 10 and/ordirectly to software located topside. In a particular embodiment,detector 20 may be configured to determine a density of the mediaflowing and/or stagnant within the section of the pipe 22. In aparticular embodiment, detector 20 may weigh approximately fifteenpounds. In exemplary embodiments, detector 20 may be at least one of theMiniTrac 31 and MiniTrac 32 detectors for radiation-based densitymeasurement offered by VEGA Americas, Inc. In this embodiment, detector20 may include signal conditioning instruments and software such as theVEGAMET 624 which may power the MiniTrac 31 and process and displaymeasured values such as the at least one measurement signal.

In various embodiments, detector 20 may make measurements of section ofpipe 22 constantly at a high frequency. However, in some embodiments,due to the random nature of the radiation emitted from source 19, thesemeasurements may be averaged and dampened via a multi-pass softwarefilter in the detector 20 that changes the frequency of the update tothe output based on the step change of sensed value. In an exemplaryembodiment, apparatus 10 may increase its productivity from 1 to 20ft/min, which equals up to 9.5 Km of pipeline/day.

In particular embodiments, more than one measurement of a section ofpipe 22 may be taken by the apparatus 10 at one time. In someembodiments, it may be possible to include more than one detector 20and/or if necessary, more than one source 19, to either sense a largerarea on the pipe 22 and/or improve accuracy of the readings by theapparatus 10.

As shown in FIGS. 1 to 3 , control canister 23 may be positioned on themain frame 12 of the apparatus 10 in a location below handle 36.Alternatively, control canister 23 may be located in an ROV attached toapparatus 10. In an exemplary embodiment, control canister 23 mayinclude software configured to receive the at least one measurementsignal from the detector 20, and convey the at least one measurementsignal to software located in the ROV and/or to directly to softwareviewable and/or controlled by topside personnel. Software in the controlcanister 23 may be a Supervisory Control And Data Acquisition (SCADA)system used for remote monitoring and control that operates with codedsignals over communication channels (using typically one communicationchannel per remote station). In various embodiments, software of controlcanister 23 may include a data acquisition (DAQ) system using codedsignals over communication channels to acquire information about thestatus of remote equipment for display or for recording functions. Inthis embodiment, DAQ system in control canister 23 may include sensors,DAQ measurement hardware, and a computer with programmable software.

In particular embodiments, control canister 23 may include a local dataacquisition board configured to receive and convey the at least onemeasurement signal to the software on ROV and/or software locatedtopside and viewable and/or controlled by topside personnel. In thisembodiment, control canister 23 may also include motor controllers for apropulsion drive and ballast drive, gyro, inclinometers, and/or anEthernet to a signal conditioner (e.g., an RS232 signal conditioner). Inalternative embodiments, control canister 20 may include other suitableconfigurations to assist in receiving and conveying the at least onemeasurement signal to software in the ROV and/or directly to softwareviewable and controlled by topside personnel. In an exemplaryembodiment, control canister 23 may have a cylindrical shape. In analternative embodiment, control canister 23 may have other shapessuitable for performing its receiving and conveying functions. Inparticular embodiment, control canister 23 may be made of titanium.Alternatively, control canister 23 may be made of other suitablematerials. In an example embodiment, control canister 23 may include aDAQ system offered by National Instruments™.

In various embodiments, apparatus 10 may include at least one buoyancystructure 25 positioned on the main frame 12. At least one buoyancystructure 25 may be configured to hold the apparatus 10 in place on thepipe 22. In an exemplary embodiment, apparatus 10 may include twobuoyancy structures 25 positioned on the main frame 12, with the controlcanister 23 positioned between the two buoyancy structures 25. See,e.g., FIG. 1 . In exemplary embodiments, at least one buoyancy structure25 may be made of foam. In alternative embodiments, at least onebuoyancy structure 25 may be a ballast tank having variable ornon-variable buoyancy control. In this embodiment, the ballast tankbuoyancy structure 25 may be securable over a portion of the main frame12.

In particular embodiments, apparatus 10 may further include astabilizing system such as for e.g. a brick of lead positioned beneaththe at least one buoyancy structure 25 and within the main frame 12. Thebrick of lead may be configured to act as a ballast assist inmaintaining the stability of the apparatus 10 on the pipe 22. In thisembodiment, the stabilizing system may include attachments to electricmotors configured to move the brick of lead transversally within theapparatus 10. For example, if the apparatus 10 moves in an unwanted leftor right direction once it is placed on the pipe 22, the electric motorsmay be used to move the brick of lead in the opposite direction toensure proper balancing and positioning of the apparatus 10 on the pipe22. In exemplary embodiments, stabilizing system may include attachmentsto inclinometers configured to measure angles of slope (or tilt),elevation, or depression of the apparatus 10 with respect to gravity,and thereby further assist in positioning the apparatus 10 on the pipe22. In an exemplary embodiment, the inclinometers may be located withinthe control canister 23. In some embodiments, the apparatus 10 may alsobe securable to and positioned on the pipe 22 using hydraulic clamps orelectrically operated via motor or electrical linear actuator.

Apparatus 10 may include at least one roller 18 attached to eachopposing side of the main frame 12. At least one roller 18 may beconfigured to assist in moving the apparatus 10 along the pipe 22. In aparticular embodiment, apparatus 10 may include two rollers 18 attachedto each opposing side of the main frame 12. See, e.g., FIG. 3 . Inexemplary embodiments, at least one roller 18 may be made of rubber suchas for e.g., urethane rubber. In this embodiment, apparatus 10 mayinclude hydraulic or electric motors connected to at least one roller 18and configured to rotate at least one roller 18 and move the apparatus10 along the pipe 22. In an alternative embodiment, at least one roller18 may not be motorized and apparatus 10 may be mechanically moved alongthe pipe 22. In some embodiments, apparatus 10 may also include at leasttwo crawlers 16 positioned beneath ends and/or sides of the apparatus10. See, e.g., FIG. 2 . At least two crawlers 16 may be configured towork in tandem with at least one roller 18 to assist in faster and moreefficient movement of the apparatus 10 along the pipe 22. In variousembodiments, at least two crawlers 16 may either be motorized ornon-motorized.

In exemplary embodiments, apparatus 10 may include a handle 36 mountedon the main frame 12. Handle 36 may be configured to provide formanipulation and placement of the apparatus 10 via an arm of the ROV orby manual manipulation. In some embodiments, apparatus 10 may alsoinclude secondary handles 37 on either a front end, back end, and/orsides of the main frame 12. Secondary handles 37 may act as acontingency for the ROV to move the apparatus 10 along the pipe 22 ifthe motorized rollers 18 and/or crawlers 16 are not functioningproperly.

In some embodiments, a distance counter 27 may be attached to theapparatus 10. Distance counter 27 may be configured to measure andcontrol the speed and distance traveled by the apparatus 10. Distancecounters 27 or distance measuring wheels may be used to efficiently andquickly measure distances traveled by apparatus 10 attached to distancecounter 27 and/or other tools/apparatuses attached to the distancecounter 27. In exemplary embodiments, the distance counter 27 may beconnected by a signal cable to the control canister 23, which may thensend the measurement information to software on an ROV and/or directlyto topside personnel. In exemplary embodiments, this functionality ofthe distance counter 27 may be incorporated into a propulsion drivecircuit, where an encoder used as feedback for closed loop speed controlof the drive may also be utilized for distance traveled data.

In embodiments, apparatus 10 may be attached to an ROV by connecting anROV attachment 38 to an arm of the ROV, thereby allowing the ROV to movethe apparatus 10 along pipe 22. In exemplary embodiments, the apparatus10 may be moved along the pipe 22 at variable speeds ranging fromapproximately one to twenty feet per minute, depending on the content ofthe pipe 22, and the nature of any blockage within the pipe 22.Attachment 38 may include electrical, hydraulic, and/or signalconnections or lines within the attachment 38 that connect the ROV tothe apparatus 10, and vice-versa. Hydraulic lines of attachment 38 maybe configured to control the several hydraulic connections discussedherein, including the hydraulic clamps. Electrical lines of attachment38 may be configured to provide power to run the measurement apparatus10 (and disclosed parts requiring electric power, including the electricmotors and propulsion). Measurement apparatus 10 may include a batteryor may alternatively be run using main power from the ROV. In anexemplary embodiment, the signal connections may include for e.g. fiberoptic cables configured to convey the various measurement signalsdiscussed herein from the control canister 22 to software locatedtopside via an Ethernet connection. In embodiments of the presentdisclosure, apparatus 10 may be autonomous, semi-autonomous, or manuallycontrolled. In the autonomous embodiment of the apparatus 10, apparatus10 may be powered by a battery pack and/or connected wirelessly (e.g.Bluetooth) to the ROV or a vessel or monitoring system. In the manuallycontrolled embodiment, apparatus 10 may be controlled by via a diver oran ROV attached to an attachment 38 of apparatus 10. In thesemi-autonomous embodiment of the apparatus 10, apparatus 10 may includean acoustic modem or other equivalent device in combination with fore.g. attachment to an ROV.

Apparatus 10 may further include brushes 17 attached to the front end,back end, and/or sides of the main frame 12. Brushes 17 may beconfigured to clean debris and/or other material from the pipe 22 priorto measurement of the pipe 22. In an exemplary embodiment, three brushes17 may be attached to an end of the main frame 12 that faces a forwarddirection of travel by the apparatus 10 along the pipe 22. See, e.g.,FIG. 1 . However, the apparatus 10 may include a greater or lessernumber of brushes 17 necessary to clean the pipe 22 prior to beingmeasured by apparatus 10. In some embodiments, trenches down either sideof the pipeline/flowline 22 may be dredged using a fetter skid. In someembodiments, apparatus 10 may include a low pressure (approximately 120psi greater than ambient pressure) centrifugal pump with nozzlesimmediately in front of the rollers/tracks 18 to clean the contact area.

Referring to FIGS. 4 to 6 , different views of measurement apparatus 11are shown. As shown, measurement apparatus 11 may have substantially thesame features as apparatus 10 described herein, with some modifications.Particularly, apparatus 11 may include source 19, detector 20, cleaningstructures 19 a, 20 a, elongated support frame 14, at least one buoyancystructure 25, brushes 17, at least one roller 18, and at least twocrawlers 16 described herein, as well as attachment 38 described hereinfrom apparatus 10 to an arm of an ROV for moving apparatus 10 along pipe22. However, apparatus 11 may not include a control canister 23positioned on the main frame 12 of apparatus 10. See, e.g., FIG. 5 .Rather, control canister 23 may be located external to apparatus 11. Forexample, control canister 23 may be located at the ROV attached toapparatus 11. Embodiments of the present disclosure may also not includedistance counters 27 to measure distance traveled by apparatus 11 sincesoftware in control canister 23 located in ROV attached to apparatus 11may be used to perform this function.

Further, in this embodiment, at least one roller 18 may not be attachedto the main frame 12; rather, at least one roller 18 may be attacheddirectly to an end of the detector 20 carriage opposite cleaningstructure 20 a, and an end of the source 19 carriage opposite cleaningstructure 19 a. For example, two rollers may be attached to an end ofeach of source 19 and detector 20 at each opposing side of apparatus 11.See FIG. 5 . Embodiments of the present disclosure may also includecleaning structures 19 a, 20 a having cone shapes but with more pointyedges than cleaning structures 19 a, 20 a of apparatus 10 to moreefficiently move debris and other material away from the pipe 22.Embodiments of the present disclosure for apparatus 11 are not limitedto these particular configurations and may include more or lessfeatures, including features described herein relating to apparatus 10.

Referring now to FIG. 7 , an illustration of a graphic user interface(GUI) for software 30 connected to a measurement apparatus 10, 11 andlocated topside is shown. Software 30 may receive the at least onemeasurement signal described herein from control canister 23 via anEthernet or other suitable connection. FIG. 4 is simply an exemplaryembodiment of the GUI for this software 30. In this exemplaryembodiment, the software 30 may be a SCADA (Supervisory Control And DataAcquisition) system. Software 30 may provide a method to monitor,receive, save to a local hard drive on a computer topside, and/ordisplay to topside personnel the at least one measurement signal,including for example, density and other composition data of a pipe 22,as well as other data related to apparatus 10, 11. GUI and/or software30 may take other suitable forms necessary to provide relevantinformation regarding the apparatus 10, 11 and/or the composition of thepipe 22 to topside personnel viewing the GUI 30 and controlling the ROVand/or apparatus 10, 11. GUI 30 may include several indicators fortopside personnel to easily manipulate and control the apparatus 10, 11,and to view the relevant density/composition in a section of the pipe22.

In an exemplary embodiment, GUI 30 may include an “open” or “close”shutter status indicator for the shutter contained within the source 19.In this embodiment, the shutter being “open” indicates that radiation isbeing continuously transmitted from the source 19 via the collimator asdescribed herein. The shutter being in the “close” position indicatesthat radiation is not being emitted from the source 19, and that it issafe for a diver to approach the apparatus 10, 11, if needed. Due to theparticular importance and function of the shutter contained within thesource 19, the GUI 30 may also include an additional identifierconfigured to flash a particular color. For example, the identifier mayflash the color red if the shutter is in the “open” position to indicatethat radiation is being transmitted from source 19. In an exemplaryembodiment, the GUI 30 may include a water intrusion alarm for thesource 19, detector 20, and/or control canister 23. This water intrusionalarm may also be configured to flash a particular color if water hassomehow entered the source 19, detector 20, and/or control canister 23,thereby indicating a dangerous environment such that the measurementprocess must be immediately stopped.

In some embodiments, GUI 30 may include a motion control indicatorallowing for topside personnel to control the speed and direction of theapparatus 10, 11. For example, the motion control indicator may be usedto move the apparatus 10, 11 in reverse or forward directions along thepipe 22, stop the apparatus 10, 11, and/or set a fixed but variablespeed of movement of the apparatus 10, 11. In an exemplary embodiment,GUI 30 may include indicators showing the pressure within apparatus 10,11. GUI 30 may also include indicators showing the temperature withinthe source 19, detector 20, and/or control canister 23. If the indicatorshows a dangerously high temperature, topside personnel may immediatelystop the measurement process by closing the shutter. In someembodiments, GUI 30 may also include an “open” or “close” statusindicator for the hydraulic clamps described herein.

In various embodiments, the GUI 30 may include several identifiers forproperties of the section of pipe 22 being measured by the apparatus 10,11, as well as identifiers relating to movement of the apparatus 10, 11.These identifiers may include but are not limited to outputs showingrelevant density, percentage of density, distance traveled, timetraveled, and amplitude. For example, GUI 30 may include a visualindicator for the density of the pipe 22 with values ranging from 0 to1.0. See FIG. 7 . In this exemplary embodiment, if the apparatus 10, 11detects hydrates in the pipe 22, the value shown in the indicator mayjump from 0 to 1. If the apparatus 10, 11 detects oil in the pipe 22,the value may jump from 0 to 0.8. If the apparatus 10, 11 detects wax inthe pipe 22, the value may jump from 0 to 0.7. The relationship betweenthese outputs may also be visually depicted using a graph. See, e.g,FIG. 4 . The configuration of this particular GUI 30 and apparatus 10,11 may therefore provide for an immediate Go/No Go indication using afew quick measurements of the section of pipe 22.

Referring to FIG. 8 , an alternative embodiment of apparatus 10, 11positioned on a section of pipe 22 is shown. In this embodiment, source19 and detector 20 are shown as attached to opposing ends of a rotatingplate 60 attached to the main frame 12 described herein. In someembodiments, hydraulic and/or electric motors 50 may be positionedwithin main frame 12 and attached to rotating plate 60 to actuaterotating plate 60. As shown, gears 32 may be located on an undersidesurface of rotating plate 60 adjacent to surface of pipe 22 andconfigured to assist hydraulic and/or electric motors 50 in rotation ofplate 60 and attached source 19 and/or detector 20. In particularembodiments, source 19 and/or detector 20 may each rotate in a 180°angle (or a greater angle to assure more overlap of the area beingmeasured) in both a counter-clockwise direction, A, and clockwisedirection, B, to perform a multi-faceted 360° scan of a section of pipe22 and measure composition of the section of pipe 22.

According to exemplary embodiments, methods are provided for themeasurement of submerged surfaces. In an exemplary embodiment, a methodincludes attaching a measurement apparatus 10, 11 described herein to anROV, and using the ROV to lower and place apparatus 10, 11 upon anexterior of a section of submerged pipeline 22. Measurement apparatus10, 11 may have substantially the same features as measurementapparatuses 10, 11 described herein, including a main frame 12, source19, detector 20, and/or control canister 23. Source 19 may then be usedto transmit a continuous first amount of radiation towards the sectionof pipe 22. Detector 20 may then be used to receive and detect a secondamount of radiation, determine a composition of the pipe 22 based on thefirst and second amounts of radiation, and create and send at least onemeasurement signal based on this composition of the pipe 22 to thecontrol canister 23. Control canister 23 may be located on the mainframe 12 of the apparatus 10, 11 or directly on the ROV attached toapparatus 10, 11. Control canister 23 may then be used to convey the atleast one measurement signal to software on the ROV, which may then beoutputted to software 30 located topside. Alternatively, controlcanister 23 may convey the at least one measurement signal directly tosoftware 30 located topside. Once the section of pipe 22 is measured,additional measurements of the same section of pipe 22 may be made,and/or the apparatus 10, 11 may be moved along the pipe 22 using the ROVfor measurement of another section of pipe 22.

Embodiments of the present disclosure may also be used in conjunctionwith the inspection apparatus having multiple pulsed eddy current (PEC)sensors disclosed in U.S. patent application Ser. No. 14/868,048, whichis incorporated herein by reference. The PEC sensors may be configuredto take measurements of a section of the pipeline 22 on which theinspection apparatus is placed and send multiple signals which areeventually converted into a single measurement signal for conveyance toan ROV. An average wall thickness of the section of the pipeline 22 maythen be calculated from this measurement signal. In an exemplaryembodiment, a second measurement of this section of pipe 22 may be takenusing an ultrasonic sensor if the average wall thickness of the sectionof pipe 22 is below a desired amount. In some embodiments, thisinspection apparatus may be placed adjacent to measurement apparatus 10,11 described herein on a pipe 22 and both sets of measurements may betaken simultaneously. In alternative embodiments, at least one PECsensor may be incorporated into an embodiment of the apparatus 10, 11described herein (for example, within a side of the main frame 12) so asto take simultaneous multiple measurements of the pipe 22.

While the embodiments are described with reference to variousimplementations and exploitations, it will be understood that theseembodiments are illustrative and that the scope of the disclosures isnot limited to them. Many variations, modifications, additions, andimprovements are possible. Further still, any steps described herein maybe carried out in any desired order, and any desired steps may be addedor deleted.

What is claimed is:
 1. A measurement apparatus, comprising: a mainframe; a source attached to the main frame, wherein the source isconfigured to be positioned outside of a submerged pipe and to transmitfirst amounts of radiation toward the submerged pipe as the apparatusmoves axially along a length of the submerged pipe; a detector attachedto the main frame, wherein the detector is configured to be positionedoutside of the submerged pipe, and to receive second amounts ofradiation representing portions of the first amounts of radiation thatpass through the submerged pipe as the apparatus moves axially along thelength of the submerged pipe; wherein the detector is configured togenerate a series of measurement signals that are used to determine aseries of densities of media within the submerged pipe at a series oflocations along the length of the submerged pipe based on the first andsecond amounts of radiation as the apparatus moves axially along thelength of the submerged pipe; and a remotely operated vehicle (ROV)forming an external propulsion system configured to move the measurementapparatus along the length of the submerged pipe, wherein the ROV isattached to the main frame via a releasable mechanical connection. 2.The measurement apparatus of claim 1, wherein the detector is configuredto generate the series of densities while the measurement apparatusmoves at an underwater speed of about 1 to about 20 feet per minute. 3.The measurement apparatus of claim 2, wherein the ROV moves themeasurement apparatus along the length of the submerged pipe at anunderwater depth of up to about 4700 meters below sea level and theunderwater speed of about 1 to about 20 feet per minute.
 4. Themeasurement apparatus of claim 3, wherein the ROV is configured toposition and move one or more of the main frame, the source, and thedetector with respect to the pipe.
 5. The measurement apparatus of claim4, wherein the ROV releasably attaches to a handle on the main frame. 6.The system of claim 1, further comprising: a control system configured:to control the source to transmit the first amounts of radiation; tocontrol the detector to receive the second amounts of radiation; and todetermine the series of densities of media within the submerged pipe atthe series of locations along the length of the submerged pipe based onthe series of measurement signals.
 7. The measurement apparatus of claim6, wherein the control system is further configured to determine apresence of oil, wax, or a hydrate at each location within the submergedpipe based on a density of the media within the submerged pipe at eachlocation.
 8. The measurement apparatus of claim 1, wherein themeasurement apparatus is configured to perform measurements on submergedpipes having diameters ranging from approximately 4 to 48 inches.
 9. Themeasurement apparatus of claim 1, further comprising: an electrical orhydraulic actuator that is configured change an angular position of thesource and detector or to change a position of the source and/ordetector in a direction perpendicular to the pipe.
 10. The measurementapparatus of claim 1, further comprising: one or more sensors configuredto measure one or more of: a temperature, a pressure, a position of themeasurement apparatus along an axial direction of the submerged pipe, anangular position of the measurement apparatus relative to the submergedpipe, and status information of the source and detector.
 11. A method ofdetermining densities of media within a submerged pipe, the methodcomprising: transmitting a first amounts of radiation toward thesubmerged pipe by a source that is attached to a main frame and locatedoutside of the submerged pipe, wherein the source moves axially along alength of the submerged pipe; receiving a second amounts of radiationrepresenting a portion of the first amounts of radiation that passthrough the submerged pipe by a detector that is attached to the mainframe and located outside of the submerged pipe, wherein the detectormoves axially along a length of the submerged pipe; determining a seriesof densities of media within the submerged pipe at a series of locationsalong the length of the submerged pipe based on the first and secondamounts of radiation as the source and detector move axially along thelength of the submerged pipe; and operating a remotely operated vehicle(ROV) to move the main frame of the measurement apparatus along thelength of the submerged pipe, wherein the ROV is attached to the mainframe via a releasable mechanical connection.
 12. The method of claim11, wherein determining the series of densities is performed while thesource and the detector move at an underwater speed of about 1 to about20 feet per minute.
 13. The method of claim 12, further comprising:moving the source and the detector using the ROV at an underwater depthof up to about 4700 meters below sea level and the underwater speed ofabout 1 to about 20 feet per minute.
 14. The method of claim 13,attaching the ROV to a handle on the main frame that is mechanicallyconnected to the source and the detector.
 15. The method of claim 11,further comprising: controlling the source, using a control system, totransmit the first amounts of radiation; controlling the detector, usingthe control system, to receive the second amounts of radiation; andusing the control system to determine the series of densities of mediawithin the submerged pipe at the series of locations along the length ofthe submerged pipe.
 16. The method of claim 15, further comprising:determining a presence of oil, wax, or a hydrate at each location withinthe submerged pipe based on a density of the media within the submergedpipe at each location.
 17. The method of claim 15, further comprising:Generating, on an output, a graph of the series densities along thelength of the pipe.
 18. The method of claim 1, further comprising:moving the source and the detector along the length of the submergedpipe wherein the pipe has a diameter ranging from approximately 4 to 48inches.
 19. The method of claim 11, further comprising: changing anangular position of the source and detector or to change a position ofthe source and/or detector in a direction perpendicular to the pipe. 20.The method of claim 11, further comprising: measuring one or more of: atemperature, a pressure, a position of the measurement source and thedetector along an axial direction of the submerged pipe, an angularposition of the measurement apparatus relative to the submerged pipe,and status information of the source and detector.